华南理工大学学报（自然科学版）2025，Vol.53Issue(2)：38-47,10.DOI:10.12141/j.issn.1000-565X.240346
基于自然驾驶行为的智能驾驶复杂场景构建方法
Complex Scenario Construction Method for Navigation Pilot Based on Natural Driving Behaviour
摘要
Abstract
As the focus of research and development of intelligent connected vehicles,the test and evaluation of au-tonomous driving systems must focus on the real performance of vehicles in complex weather and complex traffic flow scenarios.This research proposed a method for constructing complex scenarios based on weather complexity and traffic complexity to meet the testing requirements of intelligent driving systems in challenging traffic environ-ments.Using natural driving data from China's large-scale field operational test project(China-FOT),the study analyzed vehicle dynamics parameters such as speed,longitudinal acceleration,lateral acceleration,and yaw rate.By fitting safety boundary envelopes,driving behavior risk levels were defined,and hazardous scenarios in natural driving were identified.These scenarios help clarify the fundamental scene types related to the functional safety of navigation-based intelligent driving.A traffic interaction coupling method,incorporating multiple dynamic target features,was applied to construct complex scenario types.The quantified natural weather factors were used to con-struct influence indicators,such as light factor,rainfall factor,fog factor,which are employed to characterize the weather complexity through the distribution of natural driving behavior characteristics.The complexity parameters,including encounter angle,relative distance,relative speed,were constructed using the Support Vector Machines and K-fold cross validation methods to characterize the traffic state of the complex scenarios.In order to ascertain the complexity of the test scenario,a closed field vehicle test was conducted,during which the real test performance evaluation parameters were employed to verify the rationality of the complex scenario construction.This research in-dicates the necessity to construct a test scenario that can accurately portray the real-world complex traffic environ-ment for the navigation pilot driving functions.This will facilitate the optimization and iteration of the autonomous driving system of intelligent connected vehicles.关键词
自然驾驶行为特证/复杂场景/天气复杂度/交通复杂度/支持向量机/信息熵理论Key words
natural driving behavior character/complex scenario/weather complexity/traffic complexity/support vector machine/information entropy theory分类
交通工程引用本文复制引用
武彪,任洪泽,郑联庆,朱西产,马志雄..基于自然驾驶行为的智能驾驶复杂场景构建方法[J].华南理工大学学报（自然科学版）,2025,53(2):38-47,10.基金项目
国家重点研发计划项目(2022YFB2503404) Supported by the National Key R&D Program of China(2022YFB2503404) （2022YFB2503404）
